Abstract
In this paper, a visual servoing control enhanced by an obstacle avoidance strategy using kinematics redundancy has been developed and tested on Baxter robot. A Point Grey Bumblebee2 stereo camera is used to obtain the 3D point cloud of a target object, which is then utilized to manipulate the closely coupled dual arms of Baxter robot. The object tracking task allocation between two arms has been developed by identifying workspaces of the dual arms and tracing the object location in a convex hull of the workspace. By employment of a simulated artificial robot as a parallel system as well as a task switching weight factor, the actual robot is able to restore back to the natural pose smoothly in the absence of the obstacle. Two sets of experiments carried out demonstrate the effectiveness of the developed servoing control method.
This work is supported in part by EPSRC grants EP/L026856/1 and EP/J004561/1,Guangdong Provincial Natural Science Foundation of China under Grant 2014A030313266 and National Natural Science Foundation (NNSF) of China under Grants 61473120 and 61473038.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Association for safe international road travel statistics. http://www.asirt.org/initiatives/informing-road-users/road-safety-facts/road-crash-statistics.aspx
Chang, W.C., Shao, C.K.: Hybrid fuzzy control of an eye-to-hand robotic manipulator for autonomous assembly tasks. In: Proceedings of the SICE Annual Conference 2010, pp. 408–414 (2010)
Daigavane, P., Bajaj, P.: Road lane detection with improved canny edges using ant colony optimization. In: 2010 3rd International Conference on Emerging Trends in Engineering and Technology (ICETET), pp. 76–80 (2010)
Guizzo, E., Ackerman, E.: How rethink robotics built its new baxter robot worker. IEEE Spectrum (2012)
Hirschmuller, H.: Accurate and efficient stereo processing by semi-global matching and mutual information. In: IEEE Computer Society Conference on Computer Vision and Pattern Recognition, CVPR 2005, vol. 2, pp. 807–814 (2005)
Ju, Z., Yang, C., Ma, H.: Kinematics modeling and experimental verification of baxter robot. In: 2014 33rd Chinese Control Conference (CCC), pp. 8518–8523 (2014)
Kamat, V., Ganesan, S.: A robust hough transform technique for description of multiple line segments in an image. In: Proceedings of the 1998 International Conference on Image Processing, ICIP 1998, vol. 1, pp. 216–220 (1998)
Kofman, J., Wu, X., Luu, T., Verma, S.: Teleoperation of a robot manipulator using a vision-based human-robot interface. IEEE Transactions on Industrial Electronics 52(5), 1206–1219 (2005)
Li, C., Ma, H., Yang, C., Fu, M.: Teleoperation of a virtual icub robot under framework of parallel system via hand gesture recognition. In: Proceedings of the 2014 IEEE World Congress on Computational Intelligence, WCCI, Beijing (2014)
Luo, R., Chou, S.C., Yang, X.Y., Peng, N.: Hybrid eye-to-hand and eye-in-hand visual servo system for parallel robot conveyor object tracking and fetching. In: 40th Annual Conference of the IEEE Industrial Electronics Society, IECON 2014, pp. 2558–2563 (2014)
Maciejewski, A.A., Klein, C.A.: Obstacle avoidance for kinematically redundant manipulators in dynamically varying environments. The International Journal of Robotics Research 4(3), 109–117 (1985)
Su, H., He, B.: A simple rectification method of stereo image pairs with calibrated cameras. In: 2010 2nd International Conference on Information Engineering and Computer Science (ICIECS), pp. 1–4 (2010)
Urmson, C., Whittaker, W.: Self-driving cars and the urban challenge. IEEE Intelligent Systems 23(2), 66–68 (2008). doi:10.1109/MIS.2008.34
Wang, X., Yang, C., Ma, H.: Automatic obstacle avoidance using redundancy for shared controlled telerobot manipulator. In: 2015 IEEE 5th Annual International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER) (accepted, 2015)
Wijesoma, W., Kodagoda, K., Balasuriya, A., Teoh, E.: Road edge and lane boundary detection using laser and vision. In: Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 3, pp. 1440–1445 (2001)
Zlajpah, L., Nemec, B.: Kinematic control algorithms for on-line obstacle avoidance for redundant manipulators. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 2, pp. 1898–1903 (2002)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer International Publishing Switzerland
About this paper
Cite this paper
Yang, C., Amarjyoti, S., Wang, X., Li, Z., Ma, H., Su, C.Y. (2015). Visual Servoing Control of Baxter Robot Arms with Obstacle Avoidance Using Kinematic Redundancy. In: Liu, H., Kubota, N., Zhu, X., Dillmann, R., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2015. Lecture Notes in Computer Science(), vol 9244. Springer, Cham. https://doi.org/10.1007/978-3-319-22879-2_52
Download citation
DOI: https://doi.org/10.1007/978-3-319-22879-2_52
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-22878-5
Online ISBN: 978-3-319-22879-2
eBook Packages: Computer ScienceComputer Science (R0)